license: apache-2.0
SPIDER video and data workflows
Watch the corrected pickup and release · Sequence contact sheet · Code/data and reproduction command
The RGB-D cup workflow now starts with an open, separated hand and a free cup resting on a measured table. It approaches, closes, establishes a physical grasp before lift, transports, restores table support, opens fully during release, and withdraws. The grasp checkpoint is a target, not the initial simulation state. The previous always-held cup recording is superseded for pickup/release behavior.
All 269 source frames are represented at quarter speed, with 35,680 actual simulation steps. Grasp establishment completes at 2.213 s, before lift at 2.775 s; support returns before release, and the final cup remains at rest. All 46 independent phase checks pass, including hand/table clearance. Control replay matches saved positions and velocities exactly. Maximum position error against the declared execution reference is 14.61 mm.
The update passed 204 tests. Six shared Codex/Claude skills expose the workflow; invoke $spider-video-to-motion or /spider-video-to-motion. The example runs on CPU without MANO models. Inputs, source phase reviews, grasp targets, approach waypoints, physical trajectories/controls, video, support provenance and verification reports are included. Runtime logs remain excluded.
Depth scale, registration, level-table gravity, approximate axial cup geometry, mass and friction remain assumptions; 36 reconstructed poses are uncertain. Support-compatible reference corrections are recorded separately (up to 7.4 mm), and the original track is retained. Axial spin is unobserved; full quaternion errors remain reported. Execution uses full gravity, real finger/table contacts, no object actuation, no welds, no applied forces and no scored-state resets. This verifies simulated interaction, not hardware or liquid transfer.
Current manifest · Checksums · Portability check · Phase evidence
Earlier conversion examples and the Whisking case remain available. The original pickcup_right/ inputs are unchanged. Components retain their source licenses and provenance; the dataset license applies to original data. See release instructions and bundled notices for code, robot assets and upstream inputs.